Walking assisting systems and methods

ABSTRACT

A walking assisting system for a user. The system includes first and second sub-systems each having at least one optical sensor, for example a camera. The first sub-system is fitted to the user&#39;s abdomen region, for example waist, and the second sub-system is fitted to the user&#39;s head region, for example eyes. The system is arranged to align between data obtained from optical sensors of the first and second sub-systems in order to indicate to the user presence of obstacles detected by the first sub-system in a coordinate system of the second sub-system.

TECHNICAL FIELD

Embodiments of the invention relate to walking assisting systems andmethods, in particular for providing a user with information on detailsin his/her path.

BACKGROUND

People may tend to not notice obstacles in their route resulting ininjury or inconvenience. Such tendency may increase e.g. when agingand/or when encountering a disability. For example, while walking on asurface substantially free of obstacles, a tendency may be to glancedownwards, and when the surface is less convenient—the time spentlooking downwards may increase. When a mature or disabled individualmisses to identify and react in time to an obstacle, unnecessary fallsand injuries may relatively often occur. Various solutions are availablefor assisting old people and disabled users with walking or reacting totheir environment.

US2019125587 for example describes a system for assisting the visuallyimpaired that includes one or more distance sensors, one or moreelectronic storage devices, one or more processors, and an outputcomponent. The distance sensors are configured to make distancemeasurements between the distance sensor and one or more objects and theelectronic storage devices are operable to store boundaries defining athree-dimensional space. A processor may be used for generating outputsignals related to the received measurements within the definedthree-dimensional space.

U.S. Pat. No. 10,134,304 in a further example describes an arrangementfor avoiding obstacles for visually-impaired pedestrians. Distancemeasurements may be created and analyzed to identify an obstacle andbased on such identifications of obstacles, indications may be providedto a pedestrian.

US2015323325 in yet a further example describes a computer-implementedmethod and a navigation system for guiding a visually impaired user toavoid obstructions and impediments while walking. The user may wear aplurality of subassemblies of the system. The tilt and rotation of theuser's head may be monitored using one of the subassemblies worn on theuser's head. Based at least in part on the tilt and rotation of theuser's head, vertical and horizontal firing angles used by a distancemeasuring unit in each of the subassemblies may be calculated totransmit and receive laser signals to perform measurements.

SUMMARY

The following embodiments and aspects thereof are described andillustrated in conjunction with systems, tools and methods which aremeant to be exemplary and illustrative, not limiting in scope.

In a broad aspect, at least certain embodiments of the present inventionmay be defined as relating to assisting a person in walking and/ormoving by providing wider and/or additional fields or view and/orindications of expected element(s) in a walking route that lie possiblyahead or transverse to direction of advancement and/or outside ofhis/her eye-sight—possibly as virtual indications in the field of viewof such person's eye sight or physical warning signals such as vibrationor audio

An ‘element’ may be characterized as a potential ‘obstacle’ that mayinterfere or pose likelihood of interference in a person's walking path.Obstacles may be any one of: an inanimate object (e.g. tree, etc.), amoving object (e.g. human, animal, bouncing ball, etc.), a potentialwalking hazard (e.g. a mudded, or ice covered pavement, etc.), and thelike—and hence from here on use of the term ‘obstacle’ may refer to anyone of the above.

Further example to obstacles may include: changes in the height of thewalking surface (e.g. step, pit, curb, uneven height, etc.), changes inthe friction coefficients of the walking surface (e.g. wet area, mud,dirt on the pavement, etc.), gradient on the walking surface, objects onthe walking surface (e.g. chair, table, pillar, stone etc.), SoftTexture Teeth (e.g. Carpet, Mop, Phone Cable), an animal or a person athome (like a cat, dog) or outdoor.

In at least certain embodiments there may be provided a method and/orsystem for identifying obstacles in a walking path that may relate tothe position and/or orientation of where a foot of a user may be laiddown on a ground surface and/or a projected path/route that a foot maytraverse to perform a walking step (possibly an expected step to beperformed—e.g. an expected step that will be taken three steps from nowor the like).

In some cases, information relating to detected obstacles or occurrencesahead of a user may be presented to the user as a virtual object thathighlights an obstacle on the ground or virtually on the ground inrelative high accuracy. Possibly such highlighting of an obstacle may bevia indicating a symbol around the obstacle. Preferably, suchindications may be in real-time possibly also when he is in motion. Insome cases, decision of what information to present to a user may bedependent on his/her distance from an obstacle and may be provided inthe form of a guidance indicating where he/she should avoid puttinghis/her foot.

In an aspect of the invention, an embodiment of a system/method forassisting in walking may be arranged to classify detected data and/orinformation sensed (e.g. imaged or the like). Such classification may beaimed as assessing if, e.g., such data and/or information may becharacterized as “obstacles”.

A detected obstacle may be positioned relative to a current (real-time)location of a person possibly also when in motion, and possiblypresented in a virtual manner on the walking surface according tohis/her distance from the obstacle — e.g. using augmented reality means.In certain embodiments, such presentation may possibly be provided to auser in other means, such as in a mobile device associated and/or fittedto the user, such as a smart watch (or the like).

In at least certain embodiments, a system for detecting and/or assessingand/or indicating obstacles may not necessarily be static but rathermovable and in motion. For example, such a system may be coupled to movetogether with a user by being fitted to one or more locations upon auser.

In at least certain embodiments, such system may include measures forexample for predicting a location and/or timing that an obstacle maypotentially pose a problem to a person—that takes into considerationissues such as delay time from obstacle detection by the person andhis/her typical response time, which may be defined as depending onhis/her physical condition. For example, a space tracker and/or a motionextrapolator may be employed in at least certain cases to tackle suchissues and by that increase accuracy of e.g. mapping of objects inreal-time upon a pathway of a person.

In certain cases, virtual objects may be mapped on a walkway surfaceahead and/or in a vicinity of a person and displayed in real-time to theperson, while a reference location for such mapping may be the person'splace (which may accordingly be in motion).

In an aspect of the present invention, a realization of a systemaccording to at least certain embodiments—may include a definition oftwo Cartesian coordinate systems. A first “beacon” coordinate system maybe defined including a “beacon-axis” generally aimed at a direction ofadvancement of a user; and a second “vision” coordinate system may bedefined including a “vision-axis” coupled to the direction of eye sightof the person.

Implementation of two such axes in at least certain systems of thepresent invention may be useful since the eyes of a person may notnecessarily always point/look and/or focus on a direction where anobstacle may be present or appear to a person—such as a direction ofadvancement during walking, and in some cases vision problems and/orcognitive problems of a person may also undermine ability to noticeobstacles.

Studies indicate that while walking on a surface substantially free ofobstacles, people tend to glance downwards towards the surface they arewalking upon about 50% of the time, and when the surface is lessconvenient for walking (e.g. with obstacles) people tend to lookdownwards about 90% of the time, focusing most of their attention on thenext one or two steps ahead.

When a person matures in age and/or encounters difficulty in walking,the glance downwards towards the ground increases likelihood of missingto identify obstacles in time in the route ahead, and thus react to suchsudden appearing obstacles possibly too late.

Therefore, a system's beacon-axis directed to gathering data relating tothe direction of walking—may assist in obtaining information relating tosuch potential obstacles ahead and in return provide feedback regardingsame in a reasonable distance/time in advance so that e.g. a pedestriancan respond in time. Thus, in an aspect of the invention, suchbeacon-axis may be defined as increasing a generally forward lookinghorizontal field of view of a user.

Thus, in at least certain embodiments, realization of a system accordingto the present invention may be envisioned as including generally twosub-systems. A first sub-system being generally rigidly fixed to aperson and generally aimed as a direction of advancement to facilitateprovision of such beacon-axis and a second sub-system being adjacentlylocated close to the person's eyes and aimed as his/her direction ofeye-sight to provide such vision-axis.

Thus one of the axes (here beacon-axis) may be always or mostly aimed ata direction of advancement of a person while the other axis (herevision-axis) may not necessarily be aimed or focused at the direction ofadvancement (e.g. may be aimed downwards, sideways, or unfocused by e.g.suffering from vision or cognitive problems, or the like).

In an aspect of the present invention, at least certain systemembodiments may include measures (e.g. executed on a processor withinthe system) for aligning and adjusting sensed data obtained along thetwo axes and/or in relation to the ‘beacon’ and ‘vision’ coordinatesystems.

Such sensed data may be obtained in one example from sensors (e.g.cameras) that image scenes along the beacon and vision axes. In certaincases, such streams of image data obtained along or in relation to theaxes—may have different magnifications, and/or different angles of view(etc.) that require adjustment.

Thus, in certain embodiments—data streams relating to such axes and/orcoordinate systems may be processed to detect common features such as adetection in both data streams of one or more common coordinates. Forexample, matching between image streams (e.g. a pair of images having asimilar time stamp taken each from a different image stream) arrivingfrom cameras aimed at providing image(s) each along one of the axes—maybe performed by identifying correlating points in image pairs obtainedalong the two axes—in order to transform features from one image to theother so that they are in the same coordinate system.

In addition or alternatively, in certain cases such alignment betweenthe axes and/or coordinate systems may be assisted by using inertialmeasurement units (IMU) coupled each to a respective one of the ‘beacon’or ‘vision’ axes. In an embodiment, an IMU may be arranged to detectlinear acceleration using one or more accelerometers and rotational rateusing one or more gyroscopes. Possibly one IMU may be associated to eachaxis in each one of the ‘beacon’ or ‘vision’ coordinate systems in orderto track the coordinate systems as they move in space. Such tracking maybe useful in cases where e.g. computing time for executing theaforementioned correlation may be too long or will consume too muchenergy for providing results that can assist a person in safely taking anext step during walking.

In at least certain embodiments, a system's architecture may embody thetwo sub-systems associated each respectively with one of the axes and/orcoordinate systems (‘beacon’ and ‘vision’)—as a first waist mountedsub-system (e.g. belt-mounted sub-system) geared for sensing informationgenerally along a walking direction and hence generally along a‘beacon’-axis; and a second head sub-system coupled to an eye sight of aperson for sensing information generally along a field of view of visionof the person and hence generally along a ‘vision’-axis.

In certain embodiments, the first sub-system (providing beacon-axis) mayaccordingly be attached to a waist of a person, e.g. may be embodied asa belt-attached sub-system that preferably fits an adult for dailypersonal use and preferably is designed with appropriate weightdistribution on the waist. The second sub-system (providing thevision-axis) may preferably be light in weight in order to substantiallynot affect (or as little as possible) a person's normal function athis/her head region.

In certain cases, the first sub-system may be embodied as a module thatis installed on a belt, or on a carrying case, or a dedicated belt ordedicated bag (and the like). Such first sub-system in some cases may bedefined as carried/supported at a center of a person's abdomen (possiblygenerally oriented horizontally about at least part of the abdomen), oron the sides of a person's body (possibly generally oriented verticallyalong the side).

In certain cases, the first sub-system may include a sensor in form of adepth camera (such as the ‘“Realsense” product/technology of IntelCorporation). Such sensor in some cases may have a field of viewdirected towards a ground face with the ability to image one's feet. Inaddition, the first sub-system may include any one of the following: oneor more Inertial Measurement Units (IMU), GPS, Gyro means, a mainprocessor, such as Snapdragon high performance processor of QualcommTechnologies Inc., or GPU, a communication module, a power source,possible Laser Scanner, possible Foot Camera, possible Acoustic Sensor,Optional camera(s) directed sideways.

In certain cases, IMU(s) may be installed anywhere e.g. anywhere along abelt in embodiments where the first sub-system if a waist sub-system.Acoustic sensor(s) may be installed throughout a belt in such waistsub-system configuration to possibly sense by acoustic waves obstaclesahead, backwards, or generally aside of the user. Optional side andpossible back cameras may be installed anywhere on a belt in said samewaist sub-system configuration.

The second sub-system may be located close to a user's eyes. In certaincases, the second sub-system may be embodied by augmented reality (AR)technology. Possibly, such AR based second sub-system may include lenswith adjustable angles mounted on glasses to possibly split the angle ofview, such as in the technology available in the ORA-2 smart glasses ofOptinvent. In another example, such AR based second sub-system may befull AR glasses, such as the Vuzix blade AR glasses.

An AR based second sub-system may include any one of the following:camera, one or more IMUs, a Gyro option, a secondary processor, acommunication module, power source, possible earphone and/or vibratingwrist interface for alerting a person using the system e.g. aboutobstacles. In one example, the purpose of an adjustable lens may be inprovision of ability to adjust e.g. an area where AR data may beprovided at any angle with respect to a normal field of view of theperson. One may thus be able to position AR information in any part of aregular field of view, or may extend the field of view of a user indirections such as upwards or downwards towards a user's feet.

In certain embodiments, the first sub-system may include a laser scannerinstalled possibly on a belt as part of the sub-system or any otherlocation adjacent to a waist region of the user.

In at least certain embodiments, a mobile device may be used in a systemor in conjunction with a system in order to indicate (possibly on ascreen of the mobile device) information pertaining to obstacles (e.g.the obstacle itself, indication to location of an obstacle, etc.).

In at least certain embodiments, the second sub-system may be coupled tolocations other than glasses/spectacles of a user, such as to a hat orhelmet of a user (or the like). In certain cases, the second sub-systemmay be embodied as comprising a graphic display that describes/displaysa close environment of a walking person. Such graphic display may betuned to indicate/show to a user a location of an obstacle e.g. inhis/her walking route. In a non-binding example, such graphic displaymay be implemented into and/or as a wrist watch. In such case, the wristwatch may also comprise a vibrating member for indicating to the userpresence of an obstacle by vibration.

In at least some embodiments, a system may comprise additional sensors,such as blood pressure sensors possibly on a bracelet/watch of a user(or the like).

In an aspect of the present invention, detection of obstacles, and theirlocation on or relative to a walking path may be defined according to acamera's resolution which can be any standard or HD resolution.Obstacles may be displayed in their substantial exact location on thewalking path as a person moves.

In at least certain embodiments, the first sub-system may be adapted toidentify footpath-dependent obstacles and map them substantially exactlyby pixels on the walking path as viewed in image(s) obtained by a cameraof the first sub-system. The second sub-system may be adapted to displaysuch detected obstacles to the human eye, in substantially the exactsame spot, as the human moves. That is, the markings of the obstaclesremain in their proper place in the human's field of view despite humanmovement.

Embodiments of system according to the present invention may be arrangedto function when a person is in motion, and hence such systems may beconfigured to act in real time, overcoming disturbances such as unstableimages which may occur due to body movement and vibration during aperson's movement.

In certain cases, processing of gathered information may take a while(e.g. several milliseconds), and thus processed data may be indicativeof a person's prior (and not current) location. For example, suchprocessed data may be indicative of a person's prior step—and thus suchprocessed data may undergo further processing in order to e.g. mark adetected obstacle in the current real time field of view and/or imagepresented to a user e.g. in or representing the walking step he iscurrently taking.

In at least certain embodiments, a depth camera included in the firstsub-system may function to scan the walking surface, measure distances,possibly also image feet of the person, and transmit image parameterswith the pixel distance parameters of the sampled area.

In at least certain embodiments, image processing techniques may beemployed using computer vision or machine learning methods—in order toidentify and characterize obstacles (e.g. foot-dependent obstacles). Incertain cases, obstacles may be characterized according to proximity towhere a user plans laying down his/her feet on a ground face, e.g.proximity to a current walking step being taken or to a subsequent stepthereafter (and so on).

In at least certain embodiments, image processing may create a time lag,which in certain cases may be overcome by a tracker, so that the personwill eventually see the obstacles detected in such processing in realtime and in a substantial precise location on the walking surface.

In at least certain embodiments, the first and second sub-systems mayinclude a repair mode for repairing gathered data (e.g. imagedata)—where such repair may be required due to tremors (or the like)formed during a person's movement that affect data acquisition.

In at least certain embodiments, since inter-camera correlation may beperformed at a different time instances, and distances between axes(beacon and vision) may be coordinated between the IMUs, the depthcamera products may be used after activating the tracker, as anestimation for inter-camera correlation.

In a non-binding example, use of a system and/or method according to atleast certain embodiments may be defined according to a time linestarting at time “zero”. A person may be defined as beginning his/herwalk at time “zero” whereupon the depth camera at the first sub-systemmay start recording a series of depth images.

After lapse of a (possibly pre-defined) time span “L_(rec)”, processingof the recorded depth images obtained during this previous time span maytake place in order to detect suitable ‘useful’ images e.g. of the pathahead of the user (e.g. while ignoring “blurry” images resulting frominstability of the camera or the like). Such detection of ‘useful’images may take an additional time span “T_(use)”.

In certain embodiments, each recorded depth image may be substantiallyimmediately processed to determine if it qualifies as a ‘useful’ image,and hence the time span of this processing to determine “usefulness” mayintroduce a relative short delay “T_(use)” (possibly severalmilliseconds), which it takes until an image is verifies as ‘useful’.

Identification and determination of obstacle(s) within a ‘useful’ imageand their location within one or more of the ‘useful’ images may takeyet an additional time span “T_(det)” and mapping detected obstaclesonto a real-time field of view of the user may take an additional timespan “T_(map)”.

Thus, an overall time “lag” between “processed” image data andindication of such data in a real-time field of view may include atleast some of the time spans: Trec+Tuse+Tdet+Tmap (e.g. Tuse+Tdet+Tmap).

According to various embodiments, display of obstacles may beaccomplished according to any one of the following (includingcombinations between some of the following).

In certain cases, display of obstacles may include use of the AR lenswhere such display may be according to orientation provided by the IMUor by an AR camera placed on the AR lens.

In certain cases, display of obstacles may be facilitated by correlationbetween a laser scanner and a depth camera of the first sub-system.

In certain cases, a smartphone screen may be used for display ofobstacles, possibly according to its gauges and camera(s)—and hence inat least certain system embodiments act as the system's secondsub-system. In yet further cases, functionality of both the first andsecond sub-systems may be implemented by a mobile device (such as asmartphone) and thus both the first and second subsystem may be“unified” by a mobile device.

According to various embodiments, indication of alerting about presenceof obstacles may be via vibration (e.g. a vibrating bracelet), via aheadset of the user (possible utilizing AR technology and/or audiosignals) that may be connected to a computer on the display module.

According to various embodiments, distance of the obstacle from theperson may be defined according to the distance measured by a depthcamera or by distance in a parameter of steps (i.e. number of steps thata person has until the barrier, distance in meters that can bedetermined from the depth camera, etc.).

In at least certain embodiments, an IMU may also measure pelvicmovements, reflecting human steps.

In at least certain embodiments, GPS and/or simultaneous localizationand mapping (SLAM) may enable studying of walking habits along a fixedor familiar route, to create a data set defining obstacles lying alongsuch route alongside previous walking paths that “succeeded” in avoidingthe obstacles (e.g. where the person didn't fall of encounterdifficulty).

In at least certain embodiments, a system may provide an emergencybutton where upon a health event, automatic reporting of the person'scondition may be transmitted to suitable authority. A system in certainembodiments may study a person's walking activity and e.g. upon fallevent may trigger an automatic report.

In certain cases, acoustic sensors may alert a user of obstacles inhis/her perimeter.

In at least certain embodiments, a system according to variousembodiments of the invention may focus a user's eyes on walking in orderto limit likelihood of falling or tripping. Increase in likelihood offalling may occur while attention is drawn away from walking, such aswhen walking and talking with a companion, looking at a roadside plants(or the like). Therefore a system may be tuned to keep the person'sfocus on walking.

In accordance with one example, this may be accomplished by measuring adistance between IMUs fitted to the two sub-systems possibly trackingchanges in orientation of each one of the ‘beacon’ and ‘vision’coordinate-systems or at least the ‘beacon’ and ‘vision’ axes. Inaddition or alternatively, adjustment may be made according to imagedata between an image obtained by the depth camera at the firstsub-system and an AR or regular lens camera at the second sub-system.

Thus, the aforementioned IMU and/or Image based comparison, in at leastcertain embodiments may assist in detecting if distance/differencebetween the user's attention as indicative by comparison between thefirst and second sub-systems is too large (e.g. the user's attentionappears to be distracted and not focused on an obstacle ahead).

In at least certain embodiments, adjustment/calibration between IMUstracking location/orientation of the first and second sub-systems—may beperiodically performed, e.g. every few minutes, since cumulativedeviations between actual and assumed locations of the sub-systems mayoccur. A synchronization/re-calibration method may include determining apoint in the center of the field of view of the depth camera, to whichthe AR camera (via image adjustment) may be synchronized and to whichthe IMU gauges may be synchronized.

In accordance with certain embodiments, an initial matching may requirean appropriate alert. If a distance between the IMUs or cameras is toolarge, an appropriate alert and option for a virtual symbol display onthe AR lens may be provided. Gyro may be used to allow a person to keepthe walking direction, and the lens measurements to keep the barrieroriented. In certain cases, Gyro calibration may be included in IMUcalibration.

Since studies show that between about 90% and 50% of the time peoplelook downwards during walking, possibly towards a walking surface, andnot necessarily focused on further ahead to foresee impendingbarriers—at least certain embodiments of a system according to thepresent invention may accordingly by fitted with a first sub-systemaimed to sense along a beacon-axis.

Such first sub-system (possibly on or adjacent a waist region of a user)may include a utility of sensing/looking ahead towards a walkingdirection of a person in order to “expand” a pedestrian's “visual field”so that an obstacle can be alerted, even though the pedestrian may belooking in another direction (e.g. down).

Such “expansion” may be by providing indications to the user within afield of view tracked by a second sub-system aimed along avision-axis—of occurrences taking place outside of his/her visual field.

According to at least certain embodiments, a criteria for determiningthat a user's eyes are focused towards a detected obstacle may bedefined by IMUs coupled to the first and second sub-systems,respectively—for example by the ‘beacon’ and ‘vision’ axes of the firstand second sub-systems, respectively—tracked by respective IMU's coupledto said axes. In certain cases, a slanting angle derivable from an IMUcoupled to the second sub-system, may be indicative of attention of theperson being drawn to an obstacle e.g. on the ground ahead.

For example, the ‘beacon’ axis may define an axis or route ofadvancement along which detected obstacles pose potential hazards to auser—and divergence of the ‘vision’ axis from the ‘beacon’ axis may beindicative of distraction of the user from potential obstacles ahead.

Such divergence may be assessed by projecting the ‘vision’ axis onto aplane generally defining the ground face to form a ‘projected vision’axis and then deriving a slanting angle between such ‘projected vision’axis and a respective projection of the ‘beacon’ axis on said sameplane. A slanting angle exceeding a pre-set, possibly adjustable, anglethreshold may be indicative of distraction of the user away frompotential obstacles.

Other criteria's may be defined by correlation between sets of pairs ofimages, one taken by a camera (e.g. depth camera) coupled to the firstsub-system and another by a camera (e.g. AR camera) coupled to secondsub-system. If such correlation e.g. shows that the user's eyes arefocused on an obstacle close by to the user.

In at least certain embodiments, means such as a vibrating bracelet mayalert a user of obstacles outside of his/her attention or e.g. apossibly head set at the second sub-system may be utilized for bringingthe user's attention to look at an impending obstacle. If a person e.g.does not indicate awareness to such indications—a subsequent appropriatealert may be provided aimed at further alerting the user to possiblystop and avoid from encountering the barrier—e.g. by providing suitableindications on a screen of a head set (e.g. using AR technology) or asuitable alert tone emphasizing required focus of his/her vision.

In an aspect of the present invention, at least certain systemembodiment may be employ learning techniques for assisting in avoidingaccidents in a known, possibly closed environment, such as a home of auser.

To reduce likelihood of accidence from occurring—a home environment of aperson (e.g. elderly person) may be suitably arranged and organized.Potential obstacles, such as carpets, stairs without a railing, narrowpassage between a table with chairs and a wall, can increase likelihoodfor falls—and thus experts may assist in guide such people how toarrange their homes.

This may be accomplished by imaging a home environment so that a systemaccording to certain embodiment of the invention may study the homeorganization and make sure a required order (possibly pre-defined ordere.g. dictated by an expert) is maintained.

In at least certain embodiments, a system may be tuned to learn how toorganize a home environment of a given user—via information availablefrom homes of possibly other users that have been adjusted for safety.Such systems—may then be arranged to provide at least partialrecommendations on home organization to their given user.

Since a home environment may a changing over time (e.g. during dailyuse), at least certain systems of the invention may be arranged to imageand process the environment while being used by a person in his/herhome—and provide indications and possibly recommendations to the personof any changes in the environment (e.g. a displaced chair) that mayincrease likelihood for accidence and how same may be amended (e.g.return chair to its place).

In at least certain embodiments, a system may be arranged to trackmovements of a user in a given environment (e.g. a home environment)—inorder assist in preventing a user from making risky actions or moves.For example, the system may process images (from one or more of thesub-systems) to assess if he/she intends (or actually is) standing on astool in order to reach objects stored in a closet; if the user iswearing suitable shoes, e.g. without heels (and the like).

In at least certain embodiments, a system may be arranged to store(possibly in a cloud based data base) information relating toorganization schemes of an environment (e.g. home environment).

In an aspect of the invention, at least certain system embodiments maybe arranged to assess/measure/rate a user's confidence (e.g. level ofstability)—by monitoring the user's posture e.g. during walking throughthe user's step pattern.

In certain embodiments, such assessment may be performed by comparingbetween a current real time walking pattern or analysis and apre-measured/assessed normal or natural walking pattern of analysis.

For example, a pre-measured/assessed normal or natural walking patternand current real time walking pattern of a user—may be obtained fromdata derived from a depth camera and possibly also an IMU on the firstsub-system 11.

In cases where pre-measured and current real time walking patterns arederived from the depth camera—video imagery may be assessed to determinethe walking pattern. Additional data possibly obtained by the IMU mayassist in determining the direction at which the camera is aimed at,possibly in a Cartesian coordinate system X1, Y1, Z1 of the firstsub-system 11.

In certain cases, real time data obtained by gyroscopes and/oraccelerometers of an IMU that are affixed to a user, may be compared toprior recorded data of gyroscopes and/or accelerometers of said sameuser—in order to monitor in real time changes in a walking pattern ofsuch a user.

Therefore, in certain embodiments, the first sub-system 11 may be usedalone and not necessarily in combination with the second sub-system 12in order to monitor a walking pattern of the user, e.g. in cases whererecognition of obstacles 18 to the user in such a sub-system 12 is notessential and/or required. FIG. 7 schematically illustrates such anembodiment absent of a second sub-system.

Such data relating to a walking pattern of a user may includemeasurement of walking parameters, such as each leg's stride length,velocity, walking symmetry, tiredness, a user's center of mass (etc.)and/or possibly monitored angular changes in the Cartesian coordinatesystem X1, Y1, Z2 derived from the IMU.

Comparison to pre-measured/assessed normal or natural walking pattern ofa user may assist to derive if a user's current walking pattern may beindicative of potential problems such as falling, losing balance (etc.),and may possibly be derived in real time. The pre-measured/assessednormal or natural walking pattern of a user may be derived e.g. alsofrom performing a so called ‘timed up and go’ (TUG) test, where theusers sits on a chair—stands up—and returns to sit down.

Comparison to pre-measured/assessed normal or natural walking pattern ofa user may assist also to derive if a user's current walking pattern maybe indicative of lack of response or attention e.g. to an incomingobstacle detected by a depth camera of the first sub-system 11.

Attention is drawn to FIGS. 9 showing a user advancing in a forwarddirection and equipped with a sub-system or system attached to his/herwaist in this example by means of a belt like attachment. The system inthis embodiment includes an IMU and a depth camera that is aimed at thedirection of advancement, where both the IMU and camera are attached tothe user's center of mass at the waist.

Machine and/or deep learning techniques or other algorithmimplementation techniques may be used to assess from data measured ofleg's stride length, velocity, walking symmetry, tiredness (etc.)possible indication of neurological problems (or the like) relating tothe person. In certain cases, detection of a problem in walking maytrigger need for medical attention to the user, and the system mayassist by communicating to a physician data that can allow to performdiagnostics to the user, possibly remote diagnostics.

Possibly such assessment may be assisted via a camera (e.g. depthcamera) fitted at the first sub-system that may be tuned to image theuser's steps. Further possibly (or alternatively) IMU's fitted to one ofthe sub-systems (e.g. first sub-system fitted to or adjacent a user'swaist region) may provide information that may be processed to indicatestability of a user.

In at least certain embodiments, analysis of a user's steps may provideinsight into the safety and stability of a walk activity of the user.For example, assessment may be made in order to identify any of thefollowing: uniform size of the step, changes in the size of the step asa function of walking time, the quality of the walk (etc.), walkingspeed, symmetry of steps, change in symmetry, and the like.

Such data in at least certain cases may be used to guide the walking ofa person, possibly indicating to the user changes/adjustments to bemade—in order that he/she move more carefully, rest if needed (etc.).For example, aspects monitored may be any one of: gait speed(meter/second), stride length (meter), stride time (second), swing time(%), asymmetry, and step width (centimeter).

In at least certain embodiments, measurement of stride length may bedone by tracking distance between subsequent images obtained by one ofthe sub-systems (e.g. the first sub-system) and then dividing thedistance by the number of steps taken by a user between such images. Inone example, the number of steps may be derived from an IMU e.g. fittedto one of the sub-systems.

In one example, images obtained by a depth camera, e.g. comprised in thefirst sub-system, may be processed to detect where one or more specificobjects/potential-obstacles are located in each one of said images. Adistance between such one or more specific objects may be derived fromdistance measurements obtained by the depth camera, and the number ofstrides a user took in between the instances when such images weretaken—may be obtained from an IMU comprised in (or associated with) thesub-system comprising the depth camera—since from IMU data it ispossible to compute occurrences of strides (and the like).

Such assessment may permit a system employing the above to determine ifa user's stride differs from e.g. his/her normal stride—a finding thatif present may hint that the user may be encountering difficulty inhis/her walking. This in turn may trigger an alarm e.g. communicate tothe user in order to drawn his/her attention to such matter (or thelike).

In certain cases, collecting data (e.g. from cameras on any one of thesub-systems) may be timed to any one of: during walking, at a timeinterval around an incident (e.g., a fall or a near fall). Possibly,such data may be obtained from a camera of the first sub-system (e.g. adepth camera), IMUs (etc.).

In at least certain embodiments, a system may be provided with at leastsome of the following data regarding a user: a list of medications ofthe user, blood pressure measurements, exercise routine (etc.). In somecases, such data may be entered to the system via a user interface. Datamay be stored within the system or possibly in the cloud.

In an aspect of the invention, at least certain system embodiments maybe suited to learn, guide and alert a user about safety issues withinhis/her environment (home). For example, at least some of the followingmay be envisioned: gas shutdown, power off, heater shutdown, home lock,water tap closure, (etc.). The system e.g. via Deep Learning algorithms,may detect that a user after operating a utility forgot to turn it offand hence may indicate to the user this fact. For example, to close agas oven he previously activated (or the like).

In an aspect of the invention, at least certain system embodiments maybe suited to address safety in a working environment, such as factorysafety system. A system fitted to employees/workers in such environmentmay be suited to identifying relevant pitfalls and hazards e.g. due toliquidity of a floor such as oil, metal cutting (etc.).

In at least certain embodiments, a system suited for a workingenvironment (possibly industrial working environment) may be arranged toinclude the first and second sub-systems on a safety helmet of a user.

In an aspect of the present invention, at least certain systemembodiments may be tuned to detect obstacles and alarm the user if he isdetected as using his/her mobile device during movement (e.g. walking).For example such system may be tuned to alarm while walking down astaircase.

Research on effects of smartphone use on behavior while walking,indicate that people who use a cellphone screen while walking arelooking at the walking route only about 30% of the time.

Thus, in at least certain embodiments, a system may be arranged toutilize a first sub-system for observing scene ahead in the walkingdirection and a mobile device (e.g. smartphone) as the second sub-systemfor providing alerts to a user on the mobile's display to possibleobstacles ahead.

In certain embodiments, the first sub-system directed to the directionof walking may be integrated into a mobile device (such as asmartphone), while possibly fitting a depth camera to the mobile device,possibly via a gimbal.

In addition to the exemplary aspects and embodiments described above,further aspects and embodiments will become apparent by reference to thefigures and by study of the following detailed descriptions.

BRIEF DESCRIPTION OF THE FIGURES

Exemplary embodiments are illustrated in referenced figures. It isintended that the embodiments and figures disclosed herein are to beconsidered illustrative, rather than restrictive. The invention,however, both as to organization and method of operation, together withobjects, features, and advantages thereof, may best be understood byreference to the following detailed description when read with theaccompanying figures, in which:

FIGS. 1 to 3 schematically show a walking assisting system in accordancewith at least certain embodiments of the present invention, fitted to auser viewed in different postures, where FIGS. 1 and 2 show a side viewand FIG. 3 a top view of the user and system;

FIG. 4 schematically shows a further possible embodiment of a walkingassisting system of the present invention;

FIGS. 5A and 5B schematically show a flow diagram relating to at leastcertain system embodiments and a possible time-lag aspect relating tosuch diagram; and

FIGS. 6 to 10 schematically show various walking assisting systems inaccordance with further embodiments of the present invention.

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numerals may be repeated within the figures toindicate like elements.

DETAILED DESCRIPTION

Attention is first drawn to FIG. 1 schematically showing a user 5 fittedwith a walking assisting system 1 according to at least certainembodiments of the invention. System 1 in this example is shownincluding a first sub-system 11 and a second sub-system 12. Firstsub-system 11 is here illustrated fitted to a waist region of the userand second sub-system 12 to a head of the user.

First sub-system 11 includes in this example a sensor 111 aimed at agenerally frontal direction directed towards a direction of advancementof the user during walking. In certain embodiments, sensor 111 may beembodied as a depth camera. Second sub-system 12 in this example isembodied including sensor 121 in the form of wearable computer glassesthat are arranged to add information alongside or to what the userssees.

The sensor of the of first sub-system 11 when embodied as a camera maybe arranged to have a field of view (FOV) 112 that has a central axis1121 generally extending towards and/or along a center of FOV 112. Thesensor of the second sub-system 12 when embodied as a camera may bearranged to have a field of view (FOV) 122 that has a central axis 1122generally extending towards and/or along a center of FOV 122.

In certain cases, each one of the sensors 111, 121 may be adapted tosense information in a respective local coordinate system. In theillustrated example, a first coordinate system (denoted by a Cartesiancoordinate system X1, Y1, Z1) is shown affixed to the first sub-system11 and a second coordinate system (denoted by a Cartesian coordinatesystem X2, Y2, Z2) is shown affixed to the second sub-system 12. Hence,sensed data (such as image data captured by a camera type sensor) of anyone of the sub-systems 11, 12 may be obtained in the respective localcoordinate system of the sub-system.

In accordance with various embodiments of the present invention, meansmay be employed for transforming and aligning data sensed by both thefirst and second sub-systems one towards the other and/or into a globalcoordinate system (denoted by a Cartesian coordinate system X_(G),Y_(G), Z_(G)).

In certain cases, such transforming and aligning may be facilitated byprocessing information in respective images captured by the first andsecond sub-systems, and/or by fitting devices such as InertialMeasurement Units (IMU) to both sub-systems in order to track theirrespective movements in space.

In an aspect of the present invention, the first sub-system 11 may actfor monitoring possible obstacles 18 located ahead of the user that maybe assessed for determining potential hazard to the walker. Such senseddata may then be provided to the user via various means, such as in thepresent example, as added information alongside to what the users sees.

The dotted rectangle at the upper left side of FIG. 1 (and FIGS. 2 and3) represents what the user may see through his/her wearable computerglasses and since the example in FIG. 1 demonstrates that the user'sattention being focused ahead to his/her direction ofadvancement—obstacle 18 may be seen in this view. Around obstacle 18 amarking 3 may be added to highlight the detected obstacle. Such marking3 may be added due to processing taking place, e.g. in a processorincluded in the first sub-system, dictating that the obstacle poses ahazard that should be reported to the user.

In certain cases, a potential hazard posed by a detected obstacle may bereported to a user via other means, such as by any one of: sound,vibration, visual indication by a marker (e.g. a laser marker pointingto the obstacle) and the like.

Attention is drawn to FIG. 2 illustrating a scenario where the user'sattention is drawn downwards to his/her close vicinity in order e.g. tobe cautious with a next walking step being taken. In such a scenario theuser may not be aware of the upcoming obstacle ahead that is not inhis/her FOV and hence may similarly be provided with a marking 3 here inthe form of an arrow encouraging him to look upwards.

Attention is drawn to FIG. 3 illustrating a scenario where the user'sattention may be drawn sideways and thus again the user may not be awareof the upcoming obstacle ahead that is not in his/her FOV. Similarly amarking 3 here in the form of an arrow may be provided in order toencourage him/her to turn his/her attention back towards his/herdirection of walking.

In at least certain embodiments, the second sub-system 12 may bearranged to monitor a field of view (FOV) of the eyes of the user, whilenot necessarily making use of sensors in form of a camera. FIG. 6schematically illustrates such an embodiment absent of a camera in itssecond sub-system 12.

Such monitoring and/or tracking of a FOV of the user's eyes may e.g. beaccomplished by making use of a second sub-system 12 that only includesan IMU (and processor etc.) and using data derived from the IMU (i.e.from the inertial accelerometers) that is attached to the user's headregion e.g. to his/her eyeglasses (or the like).

Typically, during an initial walking phase when starting to walk, peopleusually tend to look down towards their walking direction, beforefeeling secure enough to rotate/lift their heads upwards/sidewards (orthe like). During such initial walking phase, the IMU accelerometers ofthe first sub-system 11 and of the second sub-system 12 may besynchronized to form a ‘home’ alignment, and from this point onwardsmonitoring of movement in head direction vs walking direction may becomputed by comparing angular deviations of the second sub-system's IMUaccelerometers from the ‘home’ alignment.

In a non-binding example, FIG. 2 may represent an initial walking phaseof a user where alignment between accelerometers of the secondsub-systems 12 IMU and accelerometers of the first sub-system's 11 IMUmay be performed to compute a ‘home’ position of the user, and trackingof the FOV of the user's eyesight e.g. in FIG. 1 or 3 may be performedby computing deviations from this ‘home’ position.

Attention is drawn to FIG. 4 illustrating a system embodiment where amobile device in this example held by the user may constitute the secondsub-system. In other examples (now shown) other types of mobile devicesmay be envisioned, such as mobile devices designed to be worn on theuser's wrist (e.g. a smart watch) or the like. A user may be provided asabove with markings on his/her mobile device catching his/her attentionas to obstacles or other notifications that the system may be configuredto provide.

In certain cases, real time data obtained by gyroscopes and/oraccelerometers of an IMU that are affixed to a user, may be compared toprior recorded data of gyroscopes and/or accelerometers of said sameuser—in order to monitor in real time changes in a walking pattern ofsuch a user.

With attention drawn to FIG. 7, in certain embodiments a firstsub-system 11 located at a user's center of mass at his/her waist—thatincludes a depth camera and an IMU may be used (not necessarily withsub-system 12) in order to monitor a walking pattern of the user.

Comparison to pre-measured/assessed normal or natural walking pattern ofa user may assist to determine various aspects relating to the user,such as if a user's current walking pattern may be indicative of lack ofresponse or attention e.g. to an incoming obstacle detected by a depthcamera of the sub-system (or system).

Attention is drawn to FIG. 9 showing a user advancing in a forwarddirection and equipped with a sub-system attached to his/her waist inthis example in a belt like arrangement. The sub-system in thisembodiment includes an IMU and a depth camera that is aimed at thedirection of advancement, where both the IMU and camera are attached tothe user's center of mass at the waist.

Attachment of such sensing devices to a center of mass of a user at thewaist has been found by the inventors as advantageous in monitoringwalking kinematics of a user. For example, a walking pattern of a usermay be sensed by accelerometers of the IMU that collect the user's bodyacceleration, while the gyroscopes of the IMU detect rotation of theuser's waist within a walking cycle and thus can be used to detectchanges in walking strides/patterns of a user.

In FIG. 9 a user advancing towards an obstacle 18 is seen. A depthcamera of the waist sub-system can be used to detect such an obstacleand provide a distance to the obstacle in real time.

In certain cases, a trigger distance D may determine a distance to anobstacle below which alerts may be provided to a user. The triggerdistance D may be specific to a user and may be determined e.g.according to prior history of the user's walking patterns (and thelike).

Attention is drawn to FIG. 10 providing a rough schematic illustrationof signals picked up by a gyroscope of an IMU over a time span duringwalking of a user such as that seen in FIG. 9, which is equipped with asub-system that includes a depth camera and an IMU affixed to the user'swaist.

With progression of time during a walking action of the user, thesignals picked up by the gyroscope can be seen indicative of stepsaccomplished by the user's right R and left L legs. As seen in thisexample, the sensed steps are initially at a first frequency that thenchange (at the vertical ‘dotted line’) to a second frequency, which inthis example is higher than the initial more lower frequency. Thefrequency here is measured by the sensed stride of the user as picked upby the gyroscope, which stride as seen changes at the ‘dotted line’ inthis example to be shorter.

Providing an alert to a user in certain cases may be dictated accordingto sensed data arriving from the IMU, in this example from one or moreof the gyroscopes of the IMU. A change in frequency of a signal pickedup by a gyroscope may be indicative for example of the user being awareof the obstacle, and hence providing an additional alarm to the user maybe avoided. In other cases, absence of change in frequency or a changeindicative of lack of attention to the obstacle may activate an alarm tothe user of proximity to the obstacle.

In embodiments where alerts are provided to a user only when thedistance to an obstacle is below the trigger distance ‘D’, such alarmsmay be activated only when the distance to the obstacle as picked up bythe depth camera is below the trigger distance ‘D’.

In cases where presence of the first sub-system 11 may be inconvenientand/or unsuitable, such as when walking within a home environment and/orwhen the user is elderly—certain system embodiments, may be arranged tooperate instead with a smaller module (SM) sub-system 117. FIG. 8schematically illustrates one possible example of such an embodiment.

For example, a home environment where a user moves within a known givenlocation, may permit monitoring a user without need of the more bulkyfirst sub-system being fitted to the user.

In certain embodiments, instead of the relative more bulky firstsubsystem with its depth camera, IMU, power source, processor (and thelike)—an SM sub-system 117 may include a relative smaller and simplercamera, IMU, processor (and the like) that may be attached to the users'clothing (or the like). In certain cases, styles static photos/imagesprovided via such SM sub-system may be useful in assessing a location ofthe user within his/her home environment.

Such styles photos may be obtained in certain embodiments from a videostream possibly taken by the SM sub-system's camera—wherein such stylesphotos may be compared with prior obtained images and/or video of thehome environment obtained by e.g. a depth camera (or the like).Comparison between image data from the SM sub-system and prior takenimage data—may lead to obstacle detection (or the like).

An SM sub-system 117 may be suitable for use e.g. with a relativesmaller processor and IMU. In a non-binding example such SM sub-systemmay include at least one of: an ESP32-CAM camera module, a Raspberry PiZero W processor, a Raspberry Pi Camera, an IMU such as the ADXL3453-axis accelerometer (or the like).

In certain cases, an SM sub-system 117 may be fitted to a user's shirtor may be hand held—and when a user starts walking, images from the SMsub-system may be transferred (e.g. via WIFI) possibly as low rate video(e.g. video rate of about 2, 3, 4 images per sec) or sequence of stylesphotos to a larger CPU possibly located outside of the user (e.g. withinhis/her first sub-system 11 currently not in use), wherealignment/correlation between images from the SM sub-system and priorobtained image data may be performed.

Such prior taken image data may be derived from a video stream (imagelibrary)—and may be used to alert a user e.g. if identification is madethat a current image taken by the SM sub-system while walking may be ina vicinity of a potential obstacle. Provision of image data within suchimage library, which were taken by a depth camera, possibly the depthcamera of the first sub-system 11, may assist in providing distance tosuch obstacle(s).

Attention is drawn to FIG. 5A illustrating a flow of data that may beperformed by the system possibly by processors located within the firstor second sub-systems. Block 101 represents a step of gathering senseddata, e.g. via the depth cameras of the first sub-system.

Possibly each image obtained may be assessed at step 102 to determine ifit is ‘useful’. Such ‘usefulness’ may be defined by assessing if theimage captured an area of interest (e.g. a route ahead while walking).For example, due to movements of a user during walking, the sensor maymove while taking an image resulting in a blurry image. Or, the sensormay momentarily aim at a different direction (e.g. upwards towards thesky) and thus not contain information representative of the area ofinterest.

Image data (either with or without determination of ‘usefulness’) may beprocessed at step 103 to detect objects of interest within the images,such as potential obstacles that may impede a user's walking.

Objects of interest detected within an image taken by the firstsub-system may then at step 104 undergo mapping to compute theirposition in the user's current position of the first sub system orsecond sub-system's FOV. This may be accomplished by applying atransformation (possibly a matrix or coordinate transformation) forformulating the coordinates of a detected object in the secondcoordinate system in terms of the coordinates where it was detected infirst coordinate system.

Preferably, the real time location of the second coordinate system maybe taken for such formulation—so that the detected object and/ormarkings relating to such object may be correctly placed in the FOV ofthe second sub-system to the user.

FIG. 5B schematically illustrates in dashed lines a user's previouslocation (e.g. while walking) during which an image taken by the user'sfirst sub-system was obtained. Due to processing time required forcertain steps possibly taken as indicated in FIG. 5A, a “time lag” mayexist between the images used for detecting obstacles by the firstsub-system and the real-time location of the user when such detectedobstacles may be mapped into the FOV of his/her second sub-system.

In the description and claims of the present application, each of theverbs, “comprise” “include” and “have”, and conjugates thereof, are usedto indicate that the object or objects of the verb are not necessarily acomplete listing of members, components, elements or parts of thesubject or subjects of the verb.

Further more, while the present application or technology has beenillustrated and described in detail in the drawings and foregoingdescription, such illustration and description are to be consideredillustrative or exemplary and non-restrictive; the technology is thusnot limited to the disclosed embodiments. Variations to the disclosedembodiments can be understood and effected by those skilled in the artand practicing the claimed technology, from a study of the drawings, thetechnology, and the appended claims.

In the claims, the word “comprising” does not exclude other elements orsteps, and the indefinite article “a” or “an” does not exclude aplurality. A single processor or other unit may fulfill the functions ofseveral items recited in the claims. The mere fact that certain measuresare recited in mutually different dependent claims does not indicatethat a combination of these measures can not be used to advantage.

The present technology is also understood to encompass the exact terms,features, numerical values or ranges etc., if in here such terms,features, numerical values or ranges etc. are referred to in connectionwith terms such as “about, ca., substantially, generally, at least” etc.In other words, “about 3” shall also comprise “3” or “substantiallyperpendicular” shall also comprise “perpendicular”. Any reference signsin the claims should not be considered as limiting the scope.

Although the present embodiments have been described to a certain degreeof particularity, it should be understood that various alterations andmodifications could be made without departing from the scope of theinvention as hereinafter claimed.

1. A walking assisting system for a user, the system comprising firstand second sub-systems, wherein the first sub-system comprising at leastone depth camera and an Inertial Measurement Unit (IMU) comprising threeaccelerometers and at least one gyroscope, and the second sub-systemcomprising an Inertial Measurement Unit (IMU) comprising threeaccelerometers, the first sub-system being a belt-mounted sub-systemthat is fitted to the user's waist, and the second sub-system beingfitted to another region of the user's body, for example head inparticular eyes or hand, wherein the system being arranged duringwalking of a user to assess by the first sub-system a real time walkingpattern of the user and obstacles in a footpath of the user and to alignbetween data obtained from the first and second sub-systems in order toindicate to the user presence of such footpath dependent obstaclesdetected by the first sub-system in a coordinate system of or related tothe second sub-system.
 2. The walking assisting system of claim 1,wherein accelerometers of an IMU are arranged to derive a Cartesiancoordinate system associated to a sub-system including the IMU.
 3. Thewalking assisting system of claim 1, wherein the optical sensor of thefirst sub-system is arranged to sense towards a direction of movement ofthe user, for example a walking direction of the user.
 4. The walkingassisting system of claim 1, wherein indication to a user of presence ofobstacles is by any one of: augmented reality technology, sound,vibration, visual indication by a marker (e.g. a laser marker pointingto the obstacle).
 5. A method for assisting a user in walking comprisingthe steps of: providing a system comprising first and second sub-systemswherein the first sub-system comprising at least one depth camera and anInertial Measurement Unit (IMU) comprising three accelerometers and atleast one gyroscope, and the second sub-system comprising an InertialMeasurement Unit (IMU) comprising three accelerometers, fitting thefirst sub-system as a belt-mounted sub-system to the user's waist, andfitting the second sub-system to another region of the user's body, forexample head in particular eyes or hand, wherein potential obstaclesdetected during walking of a user in coordinates of sensed data of thefirst sub-system data undergo transformation to be presented in acorrect location in coordinates of sensed data of the second sub-system.6. The method of claim 5, wherein accelerometers of an IMU are arrangedto derive a Cartesian coordinate system associated to a sub-systemincluding the IMU.
 7. The method of claim 5, wherein the optical sensorof the first sub-system is arranged to sense towards a direction ofmovement of the user, for example a walking direction of the user. 8.The method of claim 5, wherein indication to a user of presence ofobstacles is by any one of: sound, vibration, visual indication by amarker (e.g. a laser marker pointing to the obstacle).
 9. A walkingassisting system for a user comprising a belt-mounted sub-system that isfitted to the user's waist, wherein the sub-system comprising at leastone depth camera and an Inertial Measurement Unit (IMU) comprising threeaccelerometers and at least one gyroscope, and wherein real time dataobtained by the sub-system during walking of a user is arranged toassess a real time walking pattern of the user and alert the user ofobstacles in his/her footpath in response to the real time walkingpattern.
 10. The walking assisting system of claim 9, wherein assessinga real time walking pattern of the user comprises comparing to apre-measured/assessed normal or natural walking pattern of the sameuser.
 11. The walking assisting system of claim 9, wherein deriving awalking pattern comprises measuring at least one of the followingparameters: leg's stride length, velocity, walking symmetry, tiredness,a user's center of mass and/or monitoring angular changes in theCartesian coordinate system derived from the IMU.
 12. The walkingassisting system of claim 11, wherein the pre-measured/assessed normalor natural walking pattern is derived from a ‘timed up and go’ (TUG)test, where tracking of the user is performed when he/she sits on achair—stands up—and returns to sit down.
 13. The walking assistingsystem of claim 9, wherein the real time data obtained by the sub-systemduring walking of a user is arranged to assess also obstacles in afootpath of the user.
 14. The walking assisting system of claim 9 andbeing arranged to synchronize between measurements made by the cameraand the IMU.
 15. The walking assisting system of claim 9, wherein dataobtained by the IMU is used for determining the direction at which thecamera is aimed at.
 16. The walking assisting system of claim 9, whereinproviding an alert to the user is also determined according to a realtime distance obtained by the depth camera of the user from an obstaclein his/her footpath.
 17. The walking assisting system of claim 16,wherein the determining if to provide an alert is if the detectedobstacle is below a trigger distance ‘D’ from the user in his/herdirection of advancement.
 18. The walking assisting system of claim 17,wherein the determining if to provide an alert to the user is accordingto sensed data obtained by the IMU.
 19. The walking assisting system ofclaim 18, wherein changes in sensed data obtained by the IMU determinesif to provide an alert to the user.
 20. The walking assisting system ofclaim 19, wherein the changes in the sensed data are changes in sensedfrequency of the stride of the user as obtained by the at least onegyroscope.